rtabmap::OdometryEvent Class Reference

One processed frame with the pose the odometry integrated for it. More...

#include <OdometryEvent.h>

Inheritance diagram for rtabmap::OdometryEvent:

Collaboration diagram for rtabmap::OdometryEvent:

Public Member Functions
	OdometryEvent ()
	Creates an empty event, with an identity covariance.
	OdometryEvent (const SensorData &data, const Transform &pose, const OdometryInfo &info=OdometryInfo())
	Constructor.
virtual std::string	getClassName () const
SensorData &	data ()
const SensorData &	data () const
const Transform &	pose () const
const cv::Mat &	covariance () const
std::vector< float >	velocity () const
	Linear and angular velocity, from the motion and the frame interval.
const OdometryInfo &	info () const
Public Member Functions inherited from UEvent
int	getCode () const

Additional Inherited Members
Protected Member Functions inherited from UEvent
	UEvent (int code=0)

Detailed Description

One processed frame with the pose the odometry integrated for it.

Posted by OdometryThread for every frame it processes, and consumed by RtabmapThread, which passes the data and the pose to Rtabmap::process(). A null pose() means odometry is lost on this frame; RtabmapThread reads that as a reset and starts a new map.

The covariance is always 6x6 CV_64FC1 with positive finite diagonal terms (identity when the front-end did not provide one, i.e. "unknown but valid"). A value ≥ 9999 on the first diagonal term is the convention for a lost estimate.

See also

OdometryThread

OdometryInfo

RtabmapThread

Definition at line 56 of file OdometryEvent.h.

Constructor & Destructor Documentation

OdometryEvent() [1/2]

rtabmap::OdometryEvent::OdometryEvent ( )

inline

Creates an empty event, with an identity covariance.

Definition at line 60 of file OdometryEvent.h.

OdometryEvent() [2/2]

rtabmap::OdometryEvent::OdometryEvent ( const SensorData &  data, const Transform &  pose, const OdometryInfo &  info = OdometryInfo()  )

inline

Constructor.

Parameters

data	The frame that was processed.
pose	Integrated odometry pose, null if odometry is lost.
info	Everything else the iteration produced.

An empty covariance in info is replaced by identity; otherwise it must be 6x6 CV_64FC1 with finite, strictly positive diagonal terms.

Definition at line 73 of file OdometryEvent.h.

~OdometryEvent()

virtual rtabmap::OdometryEvent::~OdometryEvent ( )

inlinevirtual

Definition at line 93 of file OdometryEvent.h.

Member Function Documentation

getClassName()

virtual std::string rtabmap::OdometryEvent::getClassName ( ) const

inlinevirtual

This method is used to get the class name of the event. For example, if a class MouseEvent inherits from UEvent, it must return the "MouseEvent" string.

Returns

the class name

Implements UEvent.

Definition at line 94 of file OdometryEvent.h.

data() [1/2]

SensorData & rtabmap::OdometryEvent::data ( )

inline

Returns

The processed frame, modifiable (e.g. to attach user data).

Definition at line 97 of file OdometryEvent.h.

data() [2/2]

const SensorData & rtabmap::OdometryEvent::data ( ) const

inline

Returns

The processed frame.

Definition at line 99 of file OdometryEvent.h.

pose()

const Transform & rtabmap::OdometryEvent::pose ( ) const

inline

Returns

Integrated odometry pose, null if odometry was lost on this frame.

Definition at line 101 of file OdometryEvent.h.

covariance()

const cv::Mat & rtabmap::OdometryEvent::covariance ( ) const

inline

Returns

6x6 covariance of the motion estimate (CV_64FC1).

Definition at line 103 of file OdometryEvent.h.

velocity()

std::vector< float > rtabmap::OdometryEvent::velocity ( ) const

inline

Linear and angular velocity, from the motion and the frame interval.

Returns

(vx, vy, vz, vroll, vpitch, vyaw) in m/s and rad/s, or an empty vector when the interval is unknown.

Definition at line 109 of file OdometryEvent.h.

info()

const OdometryInfo & rtabmap::OdometryEvent::info ( ) const

inline

Returns

Quality indicators, timings and intermediate data of the iteration.

Definition at line 126 of file OdometryEvent.h.

---

The documentation for this class was generated from the following file:

• corelib/include/rtabmap/core/OdometryEvent.h